# Open-loop trajectory planning on DAIR-V2X-Seq (val) Source: [Open-loop trajectory planning on DAIR-V2X-Seq (val)]() Collection index: [llms.txt]() Data updated: 2026-06-23T08:14:41.398Z Evaluation of open-loop trajectory planning performance using the validation split of the DAIR-V2X-Seq dataset, focusing on L2 error and collision rates. A research result applies to its stated dataset, split, metric and evaluation configuration. Compare like-for-like settings, preserve the metric's unit and direction, and distinguish paper-reported results from independent reproduction. The best result recorded here is not a claim of exhaustive, current global coverage. | Scope | Recorded value | | --- | --- | | Task | Open-loop trajectory planning | | Dataset (including any stated split) | DAIR-V2X-Seq (val) | | Metric | L2 Error (1s) | | Unit | SCALAR | | Direction | Lower is better | | Results loaded | 9 of 9 | | Coverage | All results currently returned for this benchmark | Evaluation settings may differ between results. The original papers and recorded configurations are needed to establish comparability. A shared metric name alone does not establish an identical protocol. ## Metrics - [L2 Error (1s)](): Lower is better; unit: SCALAR. - [L2 Error (2s)](): Lower is better; unit: SCALAR. - [L2 Error (3s)](): Lower is better; unit: SCALAR. - [L2 Error (Avg)](): Lower is better; unit: SCALAR. - [Collision Rate (3s Avg)](): Lower is better; unit: PERCENT. - [PDMS](): Higher is better; unit: SCALAR. ## Recorded results | Method | L2 Error (1s) | Result date | Report paper | | --- | --- | --- | --- | | OmniV2X | 0.45 | Not recorded | 6a3a12e1206542251d7c6dd1 | | OmniV2X (w/ Map) | 0.45 | Not recorded | 6a3a12e1206542251d7c6dd1 | | UniMM-V2X | 0.78 | Not recorded | 6a3a12e1206542251d7c6dd1 | | SparseDrive | 1.02 | Not recorded | 6a3a12e1206542251d7c6dd1 | | UniAD | 1.26 | Not recorded | 6a3a12e1206542251d7c6dd1 | | UniV2X | 1.45 | Not recorded | 6a3a12e1206542251d7c6dd1 | | VAD | 1.65 | Not recorded | 6a3a12e1206542251d7c6dd1 | | V2VNet | 1.96 | Not recorded | 6a3a12e1206542251d7c6dd1 | | CooperNaut | 2.69 | Not recorded | 6a3a12e1206542251d7c6dd1 | ### OmniV2X L2 Error (1s): 0.45. Result ID: 6a3a4066fbc373592c3499da. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Method Category":"Ours","V2X Message Type":"SDSM","Transmission Cost (BPS)":"1,408","Map Usage":"false"}. This record does not assert independent reproduction. ### OmniV2X (w/ Map) L2 Error (1s): 0.45. Result ID: 6a3a4066fbc373592c3499db. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Method Category":"Ours","V2X Message Type":"SDSM & MAP","Transmission Cost (BPS)":"25,792","Map Usage":"true"}. This record does not assert independent reproduction. ### UniMM-V2X L2 Error (1s): 0.78. Result ID: 6a3a4066fbc373592c3499d9. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Method Category":"Coop V2X","V2X Message Type":"Queries & Occ.","Transmission Cost (BPS)":"9.32 × 10⁵","Map Usage":"false"}. This record does not assert independent reproduction. ### SparseDrive L2 Error (1s): 1.02. Result ID: 6a3a4066fbc373592c3499d5. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Method Category":"Ego-Only","V2X Message Type":"—","Transmission Cost (BPS)":"—","Map Usage":"false"}. This record does not assert independent reproduction. ### UniAD L2 Error (1s): 1.26. Result ID: 6a3a4066fbc373592c3499d4. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Method Category":"Ego-Only","V2X Message Type":"—","Transmission Cost (BPS)":"—","Map Usage":"false"}. This record does not assert independent reproduction. ### UniV2X L2 Error (1s): 1.45. Result ID: 6a3a4066fbc373592c3499d8. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Method Category":"Coop V2X","V2X Message Type":"Queries & Occ.","Transmission Cost (BPS)":"8.09 × 10⁵","Map Usage":"false"}. This record does not assert independent reproduction. ### VAD L2 Error (1s): 1.65. Result ID: 6a3a4066fbc373592c3499d3. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Method Category":"Ego-Only","V2X Message Type":"—","Transmission Cost (BPS)":"—","Map Usage":"false"}. This record does not assert independent reproduction. ### V2VNet L2 Error (1s): 1.96. Result ID: 6a3a4066fbc373592c3499d6. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Method Category":"Coop V2X","V2X Message Type":"BEV Features","Transmission Cost (BPS)":"8.19 × 10⁷","Map Usage":"false"}. This record does not assert independent reproduction. ### CooperNaut L2 Error (1s): 2.69. Result ID: 6a3a4066fbc373592c3499d7. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Method Category":"Coop V2X","V2X Message Type":"BEV Features","Transmission Cost (BPS)":"8.19 × 10⁷","Map Usage":"false"}. This record does not assert independent reproduction. Page 1 of 1. 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